To a degree, yes. One of the greatest things about the game is the constant feeling of having to explore a highly hostile land that well and truly feels dangerous and foreign. The game, and by extension the world, being complex and obfuscated contributes wonderfully to this mood, because it transfers the feeling of the unknown directly to the player.
This is one of the subtle things that so many other developers completely fail to grasp. They think they're "being helpful" by explaining everything, hence shitty GPS systems with 10,000 icons that explain everything and ruin all sense of discovery, fast travel that kills level design for the sake of instant gratification, and ham-fisted stories shoved in your face because they really want every single person to understand it.
Of course, I'm in no way implying that Dark Souls II is going to have shitty GPS/tutorials/story because this blurb said it was going to be accessible, but it suffices to say the lack of accessibility is actually a good thing in the game, because it works wonderfully in contributing to the overall feeling of venturing into a deep unkown that both your character and you have to actively work toward understanding.